CN107289902A - Binocular high-speed, high precision theodolite based on image recognition with tracking - Google Patents
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Abstract
本发明公开了一种基于图像识别与跟踪的双目高速高精度经纬仪，包括跟踪相机和拍摄相机，跟踪相机与拍摄相机安装在同一俯仰传动轴的两侧，俯仰电机通过支座安装在方位电机的回转轴上，俯仰传动轴连接有俯仰轴编码器，方位电机的回转轴连接有方位轴编码器，方位电机固定在基座上。方位电机和俯仰电机根据跟踪相机采集图像的处理结果调整两相机的姿态，使目标始终位于所述拍摄相机的视场范围内，拍摄相机以固定时间间隔对目标进行拍摄，由此完成目标高速运动、速度急剧变化下的跟踪记录。可以实现在目标高速运动条件下的自动精密跟踪，整个装置结构紧凑、重心低、重量轻，跟踪相机和拍摄相机姿态调整的响应速度快，拍摄相机的成像质量高。
The invention discloses a binocular high-speed and high-precision theodolite based on image recognition and tracking, which includes a tracking camera and a shooting camera. The tracking camera and the shooting camera are installed on both sides of the same pitch transmission shaft, and the pitch motor is installed on the azimuth motor through a support. On the rotary shaft, the pitch transmission shaft is connected with a pitch shaft encoder, the rotary shaft of the azimuth motor is connected with an azimuth shaft encoder, and the azimuth motor is fixed on the base. The azimuth motor and pitch motor adjust the posture of the two cameras according to the processing results of the images collected by the tracking camera, so that the target is always within the field of view of the shooting camera, and the shooting camera shoots the target at fixed time intervals, thereby completing the high-speed movement of the target , Track records under rapid speed changes. It can realize automatic and precise tracking under the condition of high-speed movement of the target. The whole device has a compact structure, a low center of gravity, and light weight. The response speed of the attitude adjustment of the tracking camera and the shooting camera is fast, and the imaging quality of the shooting camera is high.
Description
技术领域technical field
本发明涉及一种高速精密测量装置，尤其涉及一种基于图像识别与跟踪的双目高速高精度经纬仪。The invention relates to a high-speed precision measuring device, in particular to a binocular high-speed and high-precision theodolite based on image recognition and tracking.
背景技术Background technique
目前，对于高速运动物体的精密测量，主要采用光电经纬仪。随着科学技术的发展和研究的需要，对高速运动物体的精确测量引起广泛的重视，对光电经纬仪的跟踪速度和精度也提出了越来越高的要求。At present, for the precise measurement of high-speed moving objects, photoelectric theodolites are mainly used. With the development of science and technology and the needs of research, the precise measurement of high-speed moving objects has attracted widespread attention, and the tracking speed and precision of photoelectric theodolites have also put forward higher and higher requirements.
当前光电经纬仪多采用单目跟踪，姿态调节方式为手动调节或自动调节：手动调节调节速度不稳定，容易丢失目标，成像质量差，测量精度不高；自动调节受限于图像处理速度和机械结构的灵活性，调节速度无法满足对高速运动物体的精确测量要求。目前，对音速及以下的实验一般采用人工跟踪拍摄的方式进行测量，但这种测量画面质量不高，无法适应高速试验的要求；对超音速的试验一般采用多台高速相机分段接力、定向拍摄的方式进行测量，但这无法获取完整的运动画面。At present, photoelectric theodolites mostly use monocular tracking, and the attitude adjustment method is manual adjustment or automatic adjustment: the manual adjustment adjustment speed is unstable, it is easy to lose the target, the imaging quality is poor, and the measurement accuracy is not high; automatic adjustment is limited by image processing speed and mechanical structure The flexibility of adjusting the speed cannot meet the precise measurement requirements for high-speed moving objects. At present, experiments at the speed of sound and below are generally measured by manual tracking and shooting, but the quality of this measurement picture is not high and cannot meet the requirements of high-speed tests; tests at supersonic speeds generally use multiple high-speed cameras to relay, orientate The way it's shot is measured, but that doesn't capture the full motion picture.
发明内容Contents of the invention
本发明的目的是提供一种基于图像识别与跟踪的双目高速高精度经纬仪。The object of the invention is to provide a binocular high-speed and high-precision theodolite based on image recognition and tracking.
本发明的目的是通过以下技术方案实现的：The purpose of the present invention is achieved through the following technical solutions:
本发明的基于图像识别与跟踪的双目高速高精度经纬仪，包括跟踪相机和拍摄相机，所述跟踪相机与拍摄相机安装在同一俯仰传动轴的两侧，俯仰电机通过支座安装在方位电机的回转轴上，所述俯仰传动轴连接有俯仰轴编码器，所述方位电机的回转轴连接有方位轴编码器，所述方位电机固定在基座上。The binocular high-speed and high-precision theodolite based on image recognition and tracking of the present invention includes a tracking camera and a shooting camera, the tracking camera and the shooting camera are installed on both sides of the same pitch transmission shaft, and the pitch motor is installed on the side of the azimuth motor through a support On the rotary shaft, the pitch transmission shaft is connected with a pitch axis encoder, the rotary shaft of the azimuth motor is connected with an azimuth encoder, and the azimuth motor is fixed on the base.
由上述本发明提供的技术方案可以看出，本发明实施例提供的基于图像识别与跟踪的双目高速高精度经纬仪，跟踪相机和拍摄相机的安装位置可调节，可以通过调整相机的安装位置和增加配重的方式实现绕固定轴回转构件的惯性力平衡，减小机械振动。可以实现在目标高速运动条件下的自动精密跟踪，整个装置结构紧凑、重心低、重量轻，跟踪相机和拍摄相机姿态调整的响应速度快，拍摄相机的成像质量高。As can be seen from the technical solution provided by the present invention above, in the binocular high-speed and high-precision theodolite based on image recognition and tracking provided by the embodiment of the present invention, the installation positions of the tracking camera and the shooting camera can be adjusted, and can be adjusted by adjusting the installation position of the camera and The method of increasing the counterweight realizes the balance of the inertial force of the rotating member around the fixed axis and reduces the mechanical vibration. It can realize automatic and precise tracking under the condition of high-speed movement of the target. The whole device has a compact structure, a low center of gravity, and light weight. The response speed of the attitude adjustment of the tracking camera and the shooting camera is fast, and the imaging quality of the shooting camera is high.
附图说明Description of drawings
图1为本发明实施例提供的基于图像识别与跟踪的双目高速高精度经纬仪的剖面结构示意图；Fig. 1 is the sectional structure schematic diagram of the binocular high-speed high-precision theodolite based on image recognition and tracking provided by the embodiment of the present invention;
图2为本发明实施例提供的基于图像识别与跟踪的双目高速高精度经纬仪的侧面结构示意图；Fig. 2 is the side structural schematic diagram of the binocular high-speed high-precision theodolite based on image recognition and tracking provided by the embodiment of the present invention;
图3为本发明实施例提供的基于图像识别与跟踪的双目高速高精度经纬仪的俯视结构示意图；Fig. 3 is the top view structural diagram of the binocular high-speed high-precision theodolite based on image recognition and tracking provided by the embodiment of the present invention;
图4为本发明实施例中经纬仪跟踪流程示意图。Fig. 4 is a schematic diagram of a theodolite tracking process in an embodiment of the present invention.
图中标号：Labels in the figure:
1-基座、2-方位轴编码器、3-方位电机、4-跟踪相机、5-跟踪相机支架、6-俯仰轴编码器、7-支座、8-俯仰电机、9-俯仰传动轴、10-拍摄相机支架、11-拍摄相机。1-base, 2-azimuth axis encoder, 3-azimuth motor, 4-tracking camera, 5-tracking camera bracket, 6-pitch axis encoder, 7-support, 8-pitch motor, 9-pitch drive shaft , 10-shooting camera bracket, 11-shooting camera.
具体实施方式detailed description
下面结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明的保护范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明的基于图像识别与跟踪的双目高速高精度经纬仪，其较佳的具体实施方式是：The binocular high-speed high-precision theodolite based on image recognition and tracking of the present invention, its preferred embodiment is:
包括跟踪相机和拍摄相机，所述跟踪相机与拍摄相机安装在同一俯仰传动轴的两侧，俯仰电机通过支座安装在方位电机的回转轴上，所述俯仰传动轴连接有俯仰轴编码器，所述方位电机的回转轴连接有方位轴编码器，所述方位电机固定在基座上。It includes a tracking camera and a shooting camera, the tracking camera and the shooting camera are installed on both sides of the same pitch transmission shaft, the pitch motor is installed on the rotary shaft of the azimuth motor through a support, and the pitch transmission shaft is connected with a pitch axis encoder, The rotary shaft of the azimuth motor is connected with an azimuth shaft encoder, and the azimuth motor is fixed on the base.
所述跟踪相机为大视场相机，采用短焦镜头，所述拍摄相机为高速相机，采用长焦镜头。The tracking camera is a camera with a large field of view and uses a short-focus lens, and the shooting camera is a high-speed camera and uses a telephoto lens.
所述跟踪相机和拍摄相机的安装位置可调节，通过调整相机的安装位置和增加配重使所述跟踪相机和拍摄相机的重心与所述俯仰传动轴的轴线重合，并使所述支座及其支撑的俯仰系统的总质心与所述方位电机的回转轴重合。The installation positions of the tracking camera and the shooting camera can be adjusted. By adjusting the installation position of the camera and increasing the counterweight, the center of gravity of the tracking camera and the shooting camera coincides with the axis of the pitch transmission shaft, and the support and The total center of mass of the pitch system supported by it coincides with the rotation axis of the azimuth motor.
所述跟踪相机基于图像识别捕捉目标的位置，所述方位电机和俯仰电机根据所述跟踪相机采集图像的处理结果调整两相机的姿态，使目标始终位于所述拍摄相机的视场范围内，所述拍摄相机以固定时间间隔对目标进行拍摄，由此完成目标高速运动、速度急剧变化下的跟踪记录。The tracking camera recognizes and captures the position of the target based on the image, and the azimuth motor and pitch motor adjust the postures of the two cameras according to the processing results of the images collected by the tracking camera, so that the target is always within the field of view of the shooting camera. The above-mentioned shooting camera shoots the target at fixed time intervals, thereby completing the tracking record under the high-speed movement of the target and the rapid change of speed.
该基于图像识别与跟踪的双目高速高精度经纬仪跟踪记录的主要步骤包括：The main steps of the binocular high-speed and high-precision theodolite tracking record based on image recognition and tracking include:
跟踪相机利用其视场大的特点，基于图像特征捕捉目标，并将数据传给上位机；The tracking camera takes advantage of its large field of view to capture targets based on image features and transmit the data to the host computer;
上位机根据捕捉数据计算两电机进行姿态调整的动作，并将动作指令发送给方位电机和俯仰电机，两个电机内置的编码器将电机的动作数据反馈给上位机，实现电机动作的闭环高精度控制；The host computer calculates the posture adjustment actions of the two motors based on the captured data, and sends the action commands to the azimuth motor and the pitch motor. The built-in encoders of the two motors feed back the motion data of the motors to the host computer to achieve closed-loop high-precision motor movements. control;
拍摄相机以固定时间间隔拍摄图像，拍摄相机拍摄的同时方位轴编码器和俯仰轴编码器读取当前位置数据，数据采集完成后，将图像数据和位置数据上传；The shooting camera takes images at fixed time intervals. While the shooting camera is shooting, the azimuth encoder and the pitch axis encoder read the current position data. After the data collection is completed, the image data and position data are uploaded;
上位机检查是否收到结束指令，若是，则结束跟踪、完成记录；否则，拍摄相机和两轴编码器将继续以固定时间间隔采集数据，上位机将基于目标目前的运动数据预测目标的下一步运动，并进行相应的姿态调整，跟踪相机再次捕捉目标，由此进入下一次跟踪记录。The host computer checks whether the end command is received, and if so, ends the tracking and completes the recording; otherwise, the shooting camera and the two-axis encoder will continue to collect data at fixed time intervals, and the host computer will predict the next step of the target based on the current motion data of the target Movement, and corresponding attitude adjustments, the tracking camera captures the target again, and thus enters the next tracking record.
本发明的基于图像识别与跟踪的双目高速高精度经纬仪，对高速运动物体进行高精度自动跟踪，可以解决当前经纬仪调节速度慢、容易丢失目标、测量精度低的问题。The binocular high-speed and high-precision theodolite based on image recognition and tracking of the present invention can automatically track high-speed moving objects with high precision, and can solve the problems of slow adjustment speed, easy loss of targets and low measurement accuracy of the current theodolite.
采用本发明，可以实现在目标高速运动条件下的自动精密跟踪，整个装置结构紧凑、重心低、重量轻，跟踪相机和拍摄相机姿态调整的响应速度快，拍摄相机的成像质量高。Adopting the present invention can realize automatic and precise tracking under the condition of high-speed movement of the target. The whole device has compact structure, low center of gravity and light weight.
具体实施例：Specific examples:
1)、基于图像识别的自动跟踪经纬仪。如图1所示，新型经纬仪包含两个相机：跟踪相机4和拍摄相机11。跟踪相机4与拍摄相机11安装在俯仰传动轴9的两侧，两相机的姿态调整由方位电机3和俯仰电机8完成。其中跟踪相机4为大视场相机，采用短焦镜头；大视场保证跟踪目标始终在视场范围内，不会丢失目标，并通过自动跟踪算法保持对目标的持续跟踪。拍摄相机11为高速相机，采用长焦镜头，视场范围小，可以拍摄目标的清晰图像。跟踪相机4和拍摄相机11采用共光轴设计，视场中心重合。因此，采用大视场相机与高速相机的组合完成高速运动物体的自动跟踪记录，其中跟踪相机4基于图像识别捕捉目标的位置，保证不会丢失目标；同时方位电机3和俯仰电机8根据跟踪相机4采集图像的处理结果调整两相机的姿态，使目标始终位于拍摄相机11的视场范围内；拍摄相机11则以固定时间间隔对目标进行拍摄，由此完成目标高速运动、速度急剧变化下的跟踪记录。1), automatic tracking theodolite based on image recognition. As shown in FIG. 1 , the new theodolite includes two cameras: a tracking camera 4 and a shooting camera 11 . The tracking camera 4 and the photographing camera 11 are installed on both sides of the pitch transmission shaft 9 , and the attitude adjustment of the two cameras is completed by the azimuth motor 3 and the pitch motor 8 . Among them, the tracking camera 4 is a camera with a large field of view, which adopts a short-focus lens; the large field of view ensures that the tracking target is always within the field of view, and the target will not be lost, and the continuous tracking of the target is maintained through an automatic tracking algorithm. The shooting camera 11 is a high-speed camera, adopts a telephoto lens, has a small field of view, and can take clear images of the target. The tracking camera 4 and the shooting camera 11 adopt a common optical axis design, and the centers of the fields of view coincide. Therefore, the combination of a large field of view camera and a high-speed camera is used to complete the automatic tracking and recording of high-speed moving objects, wherein the tracking camera 4 is based on image recognition to capture the position of the target to ensure that the target will not be lost; 4 The processing results of the collected images adjust the postures of the two cameras so that the target is always within the field of view of the shooting camera 11; Track record.
2)、基于电机和编码器组合的经纬仪。如图1所示，新型经纬仪包含两组电机和编码器的组合：方位电机3和方位轴编码器2、俯仰电机8和俯仰轴编码器6。其中电机和编码器均内置向心推力轴承，可承受部分径向力和轴向力。为完成目标的高速高精度跟踪，两相机的姿态调整响应尤为重要，要求时间短、精度高。因此，由相机和支撑结构构成的转动系统中跟踪相机4和拍摄相机11均为轻质相机，跟踪相机支架5、拍摄相机支架10、支座7和俯仰传动轴9采用轻质材料加工，以保证转动系统较低的转动惯量；方位电机3和俯仰电机8均为内置编码器的大驱动力、高转速电机，以保证姿态调节高速高精度完成；方位轴编码器2和俯仰轴编码器6均为高精度编码器，以保证相机位置数据的高精度。同时，电机和编码器内置轴承降低了摩擦系数、提高了回转精度。由于不需要额外安装轴承，节约了安装空间，使装置更紧凑。此外，俯仰电机8和俯仰轴编码器6分布于俯仰传动轴9的两侧，降低了俯仰传动轴9所受弯矩，保证了俯仰传动轴9的安全性。2) Theodolite based on motor and encoder combination. As shown in Figure 1, the new theodolite includes two sets of motors and encoders: azimuth motor 3 and azimuth axis encoder 2, pitch motor 8 and pitch axis encoder 6. Among them, the motor and the encoder have built-in radial thrust bearings, which can bear part of the radial force and axial force. In order to complete the high-speed and high-precision tracking of the target, the attitude adjustment response of the two cameras is particularly important, requiring short time and high precision. Therefore, the tracking camera 4 and the shooting camera 11 in the rotation system made up of the camera and the supporting structure are lightweight cameras. Ensure the lower moment of inertia of the rotating system; the azimuth motor 3 and the pitch motor 8 are large driving force and high-speed motors with built-in encoders to ensure high-speed and high-precision attitude adjustment; the azimuth axis encoder 2 and pitch axis encoder 6 All are high-precision encoders to ensure high-precision camera position data. At the same time, the built-in bearings of the motor and encoder reduce the friction coefficient and improve the rotation accuracy. Since there is no need to install additional bearings, the installation space is saved and the device is more compact. In addition, the pitch motor 8 and the pitch axis encoder 6 are distributed on both sides of the pitch transmission shaft 9 , which reduces the bending moment on the pitch transmission shaft 9 and ensures the safety of the pitch transmission shaft 9 .
3)、基于重心可调的经纬仪。构件绕固定轴回转运动时将产生惯性力，会在机构的运动副中引起动压力，并传到机架上。由此产生的惯性力的大小和方向随构件回转运动的循环而产生周期性变化，当惯性力不平衡时，将使整个装置发生振动，引起工作精度和可靠性的降低。因此，惯性力的平衡在高速高精度运动中非常重要。当装置总质心与回转轴线重合时，由回转运动产生的惯性力将为零。如图2所示，俯仰系统由支座7支撑，跟踪相机4可以相对于支座7在垂直于俯仰传动轴9的安装平面上调整跟踪相机4在跟踪相机支架5上的安装位置，使跟踪相机4的重心与俯仰传动轴9轴线重合；拍摄相机11可以相对于支座7在垂直于俯仰传动轴9的安装平面上调整拍摄相机11在拍摄相机支架10上的安装位置，使拍摄相机11的重心与俯仰传动轴9轴线重合。如图3所示，支座7可以相对于方位电机3在垂直于方位电机3回转轴的安装平面上调整安装位置，使支座7及其支撑的俯仰系统的总质心与方位电机3回转轴重合。因此，可调整相应构件的重心或增加配重，使构件发生回转运动时产生的惯性力为零，保证装置在高速调节下保持高精度。另外装置的重心越低，装置越稳定，因此整个装置的高度将控制到最低，支座7高度为刚好满足相机旋转的高度为宜。3), based on theodolite with adjustable center of gravity. When the component rotates around the fixed axis, the inertial force will be generated, which will cause dynamic pressure in the kinematic pair of the mechanism and transmit it to the frame. The magnitude and direction of the resulting inertial force changes periodically with the cycle of the rotary motion of the component. When the inertial force is unbalanced, the entire device will vibrate, resulting in a reduction in working accuracy and reliability. Therefore, the balance of inertial force is very important in high-speed and high-precision motion. When the overall center of mass of the device coincides with the axis of rotation, the inertial force generated by the rotary motion will be zero. As shown in Figure 2, the pitching system is supported by the support 7, and the tracking camera 4 can adjust the installation position of the tracking camera 4 on the tracking camera bracket 5 relative to the support 7 on the installation plane perpendicular to the pitch transmission shaft 9, so that the tracking The center of gravity of the camera 4 coincides with the axis of the pitch transmission shaft 9; the photographing camera 11 can adjust the installation position of the photographing camera 11 on the photographing camera bracket 10 relative to the support 7 on the installation plane perpendicular to the pitch transmission shaft 9, so that the photographing camera 11 The center of gravity coincides with the pitch transmission shaft 9 axes. As shown in Figure 3, the support 7 can adjust the installation position relative to the azimuth motor 3 on the installation plane perpendicular to the rotation axis of the azimuth motor 3, so that the total center of mass of the support 7 and the pitch system it supports is aligned with the rotation axis of the azimuth motor 3. coincide. Therefore, the center of gravity of the corresponding component can be adjusted or the counterweight can be added to make the inertial force generated when the component rotates to zero, ensuring that the device maintains high precision under high-speed adjustment. In addition, the lower the center of gravity of the device, the more stable the device, so the height of the whole device will be controlled to the minimum, and the height of the support 7 should be just enough to meet the rotation of the camera.
设需要调整的构件质量为mb，其在垂直于回转轴线的平面内矢径为rb，其余各部分的质量和矢量半径分别为mi、ri。当装置的质心与回转轴线重合时，有Suppose the mass of the component to be adjusted is m b , its vector radius in the plane perpendicular to the axis of rotation is r b , and the mass and vector radius of the other parts are respectively mi and r i . When the center of mass of the device coincides with the axis of rotation, there is
mbrb+Σmiri＝0----------(1)m b r b +Σm i r i ＝0----------(1)
因此，首先可以根据上式确定相机的矢径，调整相机的安装位置，使俯仰传动轴9上所联接的构件质心与其回转轴线重合，消除俯仰运动时产生的惯性力。然后根据支座7及其支撑的俯仰系统的总质心位置，调整支座7与方位电机3的联接或相应的增加配重，使支座7及其支撑的俯仰系统的总质心与方位3电机回转轴线重合，消除方位运动时产生的惯性力。使得装置高速调节时由回转运动产生的惯性力为零，保证装置调节的高速高精度。Therefore, first of all, the camera vector can be determined according to the above formula, and the installation position of the camera can be adjusted so that the center of mass of the components connected to the pitch transmission shaft 9 coincides with its rotation axis, and the inertial force generated during pitch motion can be eliminated. Then according to the total center of mass position of the support 7 and the pitch system supported by it, adjust the connection between the support 7 and the azimuth motor 3 or increase the counterweight accordingly, so that the total center of mass of the support 7 and the pitch system supported by the support 7 and the azimuth 3 motor The axis of rotation coincides to eliminate the inertial force generated during azimuth movement. The inertial force generated by the rotary motion is zero when the device is adjusted at high speed, ensuring high-speed and high-precision adjustment of the device.
4)、基于对目标运动进行预判断的经纬仪。当目标高速运动时，为节约姿态调整时间、提高拍摄质量，需要进行目标运动的预判断，使两相机迅速完成姿态调整。如图4所示为经纬仪跟踪流程示意图。经纬仪跟踪记录的主要步骤包括：4), based on the theodolite for pre-judging the target movement. When the target is moving at high speed, in order to save the attitude adjustment time and improve the shooting quality, it is necessary to pre-judge the target motion so that the two cameras can quickly complete the attitude adjustment. Figure 4 is a schematic diagram of the theodolite tracking process. The main steps of theodolite tracking record include:
跟踪相机4利用其视场大的特点，基于图像特征捕捉目标，并将数据传回上位机。The tracking camera 4 takes advantage of its large field of view to capture the target based on image features, and transmits the data back to the host computer.
上位机根据捕捉数据计算两电机进行姿态调整的动作，并将动作指令发送给方位电机3和俯仰电机8，电机内置的编码器将电机的动作数据反馈给上位机，实现电机动作的闭环高精度控制。The host computer calculates the posture adjustment actions of the two motors based on the captured data, and sends the action commands to the azimuth motor 3 and the pitch motor 8, and the built-in encoder of the motor feeds back the motion data of the motor to the host computer to realize the closed-loop high-precision motor action control.
拍摄相机11以固定时间间隔拍摄图像，拍摄相机拍摄的同时方位轴编码器2和俯仰轴编码器6读取当前位置数据。数据采集完成后，将图像数据和位置数据上传。The photographing camera 11 photographs images at fixed time intervals, and the azimuth axis encoder 2 and the pitch axis encoder 6 read the current position data while the photographing camera is photographing. After the data acquisition is completed, the image data and location data are uploaded.
上位机检查是否收到结束指令，若是，则结束跟踪、完成记录；否则，拍摄相机11和两轴编码器将继续以固定时间间隔采集数据，上位机将基于目标目前的运动数据预测目标的下一步运动，并进行相应的姿态调整，跟踪相机4再次捕捉目标，由此进入下一次跟踪记录。The host computer checks whether the end command is received, and if so, ends the tracking and completes the recording; otherwise, the shooting camera 11 and the two-axis encoder will continue to collect data at fixed time intervals, and the host computer will predict the target's next movement based on the current motion data of the target. One step movement, and corresponding posture adjustment, tracking camera 4 captures the target again, thus entering the next tracking record.
以上所述，仅为本发明较佳的具体实施方式，但本发明的保护范围并不局限于此，任何熟悉本技术领域的技术人员在本发明披露的技术范围内，可轻易想到的变化或替换，都应涵盖在本发明的保护范围之内。因此，本发明的保护范围应该以权利要求书的保护范围为准。The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person familiar with the technical field can easily conceive of changes or changes within the technical scope disclosed in the present invention. Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.
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